Date: 27 January 2017
Bios: 2.5.1, Os: 14.7.16, RLib: 4.5.6, RLibpp: 2.1.6, MiniXML: 1.3.1, EcatLib: 1.0.2
Derived from : RTE 34.19.9
Note: available for controls with PPC-G2 cpu and for controls with PPC-P2020 cpu.
Note: suite with >= RDE 3.51.1
Note: suite with >= RC3E v33.5.20
Note: suite with >= RPE v1.6.6
build 10
•IMPLEMENTATION: Managed ladder file with 1.5 format.
•IMPLEMENTATION: Safety ADD_SAFETY: Added directive to see timings of all modules in a safety island.
•IMPLEMENTATION: Safety SAFE_ISLE_TIMING: Added directive to manage the mapping of a safety line.
•IMPLEMENTATION: Diagnostics: Added in the rules the writing of 'register 1' with the routine number (see partial). The contents of register 1 are shown in the report in case of a processor exception.
•IMPLEMENTATION: SAFETY: Added management for SAFETY on rule. Assigned PARTIAL code 221 to this management and moved 'FB 3 management' to PARTIAL code 223
build 9
•IMPLEMENTATION: IMD ALARM 653: 0x4000 0x01 0x0000482E00 As the effect of this emergency message is to output the alarm: 653#ax IMD Motor thermal model fault
•IMPLEMENTATION: SAFETY ALARMS LPSDO: Added the following alarms for safety phoenix board handling: 2900, 2901, 2902, 2903
•CORRECTION: EMCY ALARMS: Made any EMCY generated at switch on, still present after control initialization phase, generate alarm.
•CORRECTION: COE_ROBJ directive: Fixed error on COE_ROBJ directive of visualization of UNSIGNED24 typo data (they were handled as being SIGNED24).
•CORRECTION: Instruction MBC_INIT: During niitialization of MODBUS/TCP communication through the use of the MCB_INIT instruction, if an error occurred, it was highlighted, but blocked the evolution of other tasks.
•VARIATION: Instruction INT_TIMER: The maximum acceptable frequency for the INT_TIMER instruction changed from 5KHz to 10KHz
•IMPLEMENTATION: AXIOLINE SYS_CFG: Added flag to output directly to axioline bus instead of issuing it synchronously to rules. In order to enable the function, use bit 24 of SYS_CFG.
•VARIANT: ETHERNET TCP-IP: If RHW.CFG is missing, all ethernet ports with TCP-IP are still enabled (previously only eth1 was enabled).
•CORRECTION: Fault: Fixed memory fouling error due to ETHIP initialization when no ETHIP was used.
•IMPLEMENTATION: RHW.CFG ENABLE_IOMAP_ENLARGED: Added in RHW.CFG file the keyword ENABLE_IOMAP_ENLARGED to enable i/o mapping controls management as with versions less than or equal to RTE 34.19.7 (enlargements or equal areas were (erroneously) allowed).
•IMPLEMENTATION: ECAT ARRAY and configuration: Added management for arrays of base types on ecat. Returned more permissive handling of data of known length (dataSize = 8, 16, 32 or 64) even if in unknown data type name. In this thing assumes UNSIGNED data type of specified size.
•CORRECTION: Real quota on Coe and Soe Multichannel drives: Fixed error of failure to update the CP of all axes of the multichannel drive when there is a transducer alarm on one of the channels reported by emcy.
build 8
•CORRECTION: ECAT - MASK_EMUL_AX: Fixed error where, when defining emulated axes, disabling the device on ECAT line occurred only if the master name was of type ETHn where n is the line number used.
•CORRECTION: I/O definitions: Added diagnostic in "multiple definition" report when defining a new I/O area that entirely conglobates an existing area
build 7
•IMPLEMENTATION: Added bit in SYS_CFG to condition the output of alarm 948 Error in REMOTE DEVICE definition. Use REPORT for details
CORRECTION: SDO with float data, Corrected handling reading float type data using BCC3 commands (IMD Configuration - shell command CO_ROBJ)
build 5/6
•IMPLEMENTATION: Increased TS_PER_OVERRIDE TS_NST_OVERRIDE command syntax.
•IMPLEMENTATION: Instruction MT_RR_FLAG: Instruction for special multitasking management
•IMPLEMENTATION: ALERT "948 Error in REMOTE DEVICE definition. Use REPORT for details."
•IMPLEMENTATION: RHW.CFG USE_IO_DEF: Added Keyword USE_IO_DEF to enable the use of the IW and OW definitions present in RHW.CFG instead of using the regenerated values based on the sequence of declared devices (also in RHW.CFG). Unlike automatic computation, this allows for non-contiguous word definitions (but still limited to the first 256 words).
build 4
•IMPLEMENTATION: TI device command.
•VARIANT: RDIR device command
build 3
•IMPLEMENTATION: Emulation axes present on Fieldbus for Debug in office
•IMPLEMENTATION: MASK_EMUL_AX, FE_OMEGA, FE_Q and alarm 949: Management for simulation of fieldbus axes so that the program can be debugged even in the absence of the remote physical stations
•IMPLEMENTATION: FB_FLAG bit 3 and dedicated alarms different EtherCAT channels
•VARIANT: keyword NOT_PRESENT_AXES
build 2
•IMPLEMENTATION: DATE_FORMAT
•IMPLEMENTATION: ECAT_SLAVE_OFF directive: Added directive (device commands) that sets the presence/absence of a device present in the EtherCAT network
•CORRECTION: DATE2TM and TM2DATE
build 1
•IMPLEMENTATION: LVIEW: Added directive that allows a text file present on control to be read, equivalently to the FVIEW shell command.
•IMPLEMENTATION: File /PROC/BUS/ECAT/ETHn/SLAVES/INFO: System file to see list of ECAT nodes and their status. Also in case of Error on device (AL_STATE CODE) displays descriptive message.
•IMPLEMENTATION: Instruction ECAT_GET_STATE and ECAT_SET_STATE: Added instructions to set and read NMT state of ethercat lines.
•IMPLEMENTATION: ECAT_GET_STATE and ECAT_SET_STATE directives: Added directives (device commands) to set and read the NMT state of ethercat lines
•CORRECTION: MVA_ZC end of strokes CAN/COE: Avoided generation of untruthful diagnostics in the report when looping 0 to end of strokes with can/coe/soe type drives.
•CORRECTION: BOPEX.STP: Fixed error on waiting ethercat lines in saveof. The problem had the effect of always waiting for the timeout to expire. The conditions for encountering the problem was using ethercat lines in one of the following configurations : ETH2 only, ETH3 only, ETH1 and ETH3 or ETH2 and ETH3
•CORRECTION: IMD: Eliminated unnecessary reports in case of 654 alarm.
•CORRECTION: ETH_IP: Avoided filling the report if the DNS-1.CFG configuration file is wrong.
build 0
•IMPLEMENTATION: IMD alarm 654 and SYS_CFG.17:
•IMPLEMENTATION: AXIO RS_UNI: Added serial management on AXL F RS UNI 1H module connected to RP1. From hw configuration the following modes can be selected: RS232, RS422, RS485 or GUNAXIO (to connect dispan/vispan)
•CORRECTION: CAN: Optimized diagnostic in report
•VARIANT: RP1 AXIO modules: Modified methodology of output update in order to make them more performant.
•CORRECTION: RP1 AXIO AXL modules DI8/1 DO8/1 DI16/1 DO8/2: Corrected management error on 8-bit inputs and outputs.
